Variable Stiffness Control via External Torque Estimation Using LSTM
Jaesug Jung,Seungbin You,Donghyeon Kim,Jaeheung Park,Jaesug Jung,Seungbin You,Donghyeon Kim,Jaeheung Park
Stable contact and safe responses to the collision have been studied to develop interactive robots such as service and collaborative robots. Stable and safe interactions are usually achieved through the inherent compliance of a motion controller with external torque estimation. However, a fixed control gain would sacrifice either compliance or position tracking performance. Additionally, external ...
